From b28647373a017413cd940adc17b53350c328a85d Mon Sep 17 00:00:00 2001 From: KeshavAnandCode Date: Tue, 20 Jan 2026 20:57:14 -0600 Subject: [PATCH] no errors --- .../ftc/teamcode/autonomous/ProtoAutoClose_V3.java | 2 +- .../ftc/teamcode/tests/PIDServoTest.java | 1 - .../teamcode/utils/PositionalServoProgrammer.java | 1 - .../org/firstinspires/ftc/teamcode/utils/Servos.java | 12 ++++++++++++ 4 files changed, 13 insertions(+), 3 deletions(-) diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/autonomous/ProtoAutoClose_V3.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/autonomous/ProtoAutoClose_V3.java index 8effe66..a18be3f 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/autonomous/ProtoAutoClose_V3.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/autonomous/ProtoAutoClose_V3.java @@ -710,7 +710,7 @@ public class ProtoAutoClose_V3 extends LinearOpMode { bearing = result.getTx(); } } - double turretPos = robot.turr1Pos.getCurrentPosition() - (bearing / 1300); + double turretPos = (bearing / 1300); robot.turr1.setPosition(turretPos); robot.turr2.setPosition(1 - turretPos); } diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/tests/PIDServoTest.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/tests/PIDServoTest.java index 52edfd8..303544d 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/tests/PIDServoTest.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/tests/PIDServoTest.java @@ -52,7 +52,6 @@ public class PIDServoTest extends LinearOpMode { } telemetry.addData("pos", pos); - telemetry.addData("Turret Voltage", robot.turr1Pos.getCurrentPosition()); telemetry.addData("Spindex Voltage", robot.spin1Pos.getVoltage()); telemetry.addData("target", target); telemetry.addData("Mode", mode); diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utils/PositionalServoProgrammer.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utils/PositionalServoProgrammer.java index 86ad2ee..8ebd1c4 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utils/PositionalServoProgrammer.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utils/PositionalServoProgrammer.java @@ -71,7 +71,6 @@ public class PositionalServoProgrammer extends LinearOpMode { TELE.addData("spindexer voltage 2", robot.spin2Pos.getVoltage()); TELE.addData("hood pos", robot.hood.getPosition()); TELE.addData("transferServo voltage", robot.transferServoPos.getVoltage()); - TELE.addData("turret voltage", robot.turr1Pos.getCurrentPosition()); TELE.addData("spindexer pow", robot.spin1.getPower()); TELE.update(); } diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utils/Servos.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utils/Servos.java index 4336b99..f145927 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utils/Servos.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utils/Servos.java @@ -43,4 +43,16 @@ public class Servos { return Math.abs(pos - this.getSpinPos()) < 0.02; } + public double getTurrPos() { + return 1.0; + + } + + public double setTurrPos(double pos) { + return 1.0; + } + + public boolean turretEqual(double pos) { + return true; + } }